CN106873627A - A kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity - Google Patents
A kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity Download PDFInfo
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Abstract
The invention discloses a kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity, unmanned plane includes machine vision unit, flight control units, circuit shooting unit and battery power supply unit；Machine vision unit and circuit shooting unit are connected with flight control units；Machine vision unit captures the image information of transmission line of electricity in real time, and position and direction of each bar transmission line of electricity in image are calculated according to the image information of capture, and each bar transmission line of electricity relative distance in the picture, then flight control modules are sent this data to stablize unmanned plane with respect to the position of transmission line of electricity, direction and height, makes that unmanned plane is parallel to follow flight line；The circuit shooting unit, when following flight line for unmanned plane to be parallel, obtains the image information of transmission line of electricity.The present invention improves the accuracy and security that unmanned plane patrols and examines transmission line of electricity, improves the stability of shooting picture, reduces the human cost that unmanned plane is patrolled and examined.
Description
Technical field
The present invention relates to unmanned plane polling transmission line field, more particularly, to it is a kind of can be with automatic detecting transmission line of electricity
Multi-rotor unmanned aerial vehicle and method.
Background technology
The year two thousand twenty China's transmission line of electricity overall length surpasses 1,590,000 kms, and polling transmission line work is to ensure safe and reliable
Important, the indispensable work of power supply.In recent years, with the development of remotely pilotless machine technology, electricity is patrolled and examined using unmanned plane
Line of force road has had been provided with technical feasibility.
At present, although electric inspection process field by the way of remotely pilotless machine is patrolled and examined compared to manual inspection side previous
Formula, efficiency has very big lifting, but in line data-logging, the mode of remotely pilotless machine still suffers from being difficult to stablize following power transmission line
Road, it is difficult to ensure parallel circuit shooting angle, it is necessary to the problems such as specified airman operates.
The content of the invention
The invention aims to solve the technical barrier that remotely pilotless machine is faced during polling transmission line, carry
For a kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity, the present invention is based on machine vision technique, can follow automatically
Transmission line of electricity flies, and improves accuracy and security that unmanned plane patrols and examines transmission line of electricity, improves the stability of shooting picture,
Reduce the human cost that unmanned plane is patrolled and examined.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity, including machine vision unit, flight control units, circuit
Shooting unit and battery power supply unit；The machine vision unit and circuit shooting unit are connected with flight control units；Institute
Battery power supply unit is stated for UAS provides voltage；
The machine vision unit, for the image information of capture transmission line of electricity in real time, and according to the image information of capture
Position and direction of each bar transmission line of electricity in image, and each bar transmission line of electricity relative distance in the picture are calculated,
Then flight control modules are sent this data to stablize position, direction and the height of the relative transmission line of electricity of unmanned plane, makes nothing
It is man-machine parallel to follow flight line；
The circuit shooting unit, during for parallel circuit flight, obtains the image information of transmission line of electricity；
The machine vision unit, including image processing module and digital camera.Image processing module uses Cortex-
A53 frameworks chip is embedded processor, carries (SuSE) Linux OS, and with faster operation speed, image processing module has
Power supply unit, can be used 5V power supplys as input power.Described image processing module, for calculating each bar transmission line of electricity in real time
Position and direction in image, and each bar transmission line of electricity relative distance in the picture, and send this data to fly
Row control module is stablizing unmanned plane with respect to the position of transmission line of electricity, direction and height.Digital camera is had using OV series
More than 200W pixels, the image information for capturing transmission line of electricity.
The flight control units, including master control borad, it is embedded processor to use Cortex-M4 frameworks chip, for reality
When handling machine visual unit detection data, control unmanned plane follow transmission line of electricity to fly automatically；Treatment unmanned plane is respectively sensed
Device data, maintain unmanned plane body flight stability；Treatment of battery voltage detection unit data, control unmanned plane makes a return voyage safely.
The circuit shooting unit, including electric platform and high-definition camera.The electric platform, can be with base area dough figurine
The angle that the instruction real-time adjustment high-definition camera of member shoots.
Machine vision unit of the present invention and circuit shooting unit carry camera, but the camera types and work(for carrying
Can be different.Machine vision unit uses digital camera, and the image photographed to it carries out real-time processing, digital camera it is excellent
Point is that single image data volume is small, therefore embedded processor is few to the time needed for the real-time calculating of image information, but it shoots
The image for arriving is not clear enough.And the high-definition camera that circuit shooting unit then carries different model (can select fine definition
Simulation camera), the advantage is that image resolution ratio is high, above-mentioned digital camera can be made up in terms of image-capturing resolution not
Foot, dedicated for shooting the details of transmission line of electricity, is then stored or is sent to ground based terminal by being wirelessly transferred, and carries out ground
Face monitors.The present invention take full advantage of the image not enough clear but single image data volume that although digital camera photograph it is small,
Though high-definition camera single image data volume be not suitable for real-time processing greatly image resolution ratio it is high the characteristics of, in machine vision
Digital camera is carried in unit, high-definition camera is carried in circuit shooting unit, the time for both having met real-time processing will
Ask, the definition requirement of ground monitoring is met again.
The multi-rotor unmanned aerial vehicle of the automatic detecting transmission line of electricity, it is automatic around barrier also including what is be connected with flight control units
Unit, it is automatic during for unmanned plane long-distance flight to get around barrier (shaft tower etc.) flight.
It is described automatic around barrier unit, including 24GHZ radar sensors module and big-dipper satellite locating module.The 24GHZ
Radar sensor, has clear to occur for detecting in the threshold distance of front；The big-dipper satellite locating module, for real-time
Positioning unmanned plane body latitude and longitude coordinates, and the Distance positioning barrier according to detecting obstacles thing latitude and longitude coordinates, planning boat
Line, instructs unmanned plane automatic around barrier flight.
The multi-rotor unmanned aerial vehicle of the automatic detecting transmission line of electricity, the also state of flight including being connected with flight control units
Detection unit, for detecting the real-time state of flight of unmanned plane.
The state of flight detection unit, including barometer, gyroscope and accelerometer and electronic compass.The barometer
For detecting current spatial domain air pressure, to be further calculated current flight highly；Gyroscope and accelerometer are used to detect works as
6 free degree states of preceding unmanned plane, with the control base unit weight being further calculated needed for stabilization unmanned plane；Electronic compass is used for
Detection earth's magnetic field, to be further calculated unmanned plane head direction.
The multi-rotor unmanned aerial vehicle of the automatic detecting transmission line of electricity, the also information transfer including being connected with flight control units
Unit, is communicated for flight control units with ground based terminal, and unmanned plane oneself state information and image information are transmitted to ground
Terminal.
Described information transmission unit, including digital transmission module and figure transmission module.Digital transmission module passes logical with ground based terminal by number
Letter link is connected, for ground staff's real-time monitoring flight orientation and unmanned plane oneself state (including the position of current unmanned plane
Put coordinate, height above sea level, temperature, battery electric quantity, flight attitude, flight time, flying speed and heading)；Figure transmission module and ground
Face terminal is connected by scheming biography communication link, for picture (high definition line information) real-time Transmission for shooting high-definition camera
To ground based terminal.
The battery power supply unit, including 3S lithium batteries and 12V-5V voltage transformation modules, it is nobody that 3S lithium batteries are used for
Electromechanical machine provides operating voltage, and 12V-5V voltage transformation modules are used to provide operating voltage for each circuit unit of unmanned plane.
The multi-rotor unmanned aerial vehicle of the automatic detecting transmission line of electricity, also including the voltage detection unit of detection cell voltage；
The voltage detection unit includes AD sample circuits, for detecting cell voltage, to calculate whether current voltage is equal to threshold value
Voltage, basic voltage of the threshold voltage according to needed for making a return voyage is set.
Present invention also offers a kind of method of automatic detecting transmission line of electricity, using above-mentioned multi-rotor unmanned aerial vehicle, control first
Unmanned plane processed takes off vertically, and machine vision unit captures the image information of transmission line of electricity in real time, and image letter to capturing enters
Row treatment, calculates position and direction of each bar transmission line of electricity in image, and each bar transmission line of electricity phase in the picture
Adjust the distance；Flight control units perform pid control algorithm according to the information being calculated, and are located at stablizing each bar transmission line of electricity
Position and direction in image, and each bar transmission line of electricity relative distance in the picture, i.e., unmanned plane is with respect to transmission line of electricity
Position, direction and height, make that unmanned plane is parallel to follow transmission line of electricity to fly, and ensure that unmanned plane is with the distance of transmission line of electricity part
Safe distance；Control circuit shooting unit shoots to transmission line of electricity simultaneously, realizes that unmanned plane transmission lines in parallel is patrolled and examined.
Further, image of the machine vision unit first to capturing obtains it using canny edge detection methods
Contour images, are then used by the transmission line of electricity in the hough transform methods detection contour images in OpenCV, obtain each bar transmission of electricity
Starting point and end point of the circuit in contour images；Then calculate each bar transmission line of electricity according to the data for obtaining and be located at profile diagram
Position and direction as in, and relative distance of each bar transmission line of electricity in contour images.
Further, whether there is obstacle using 24GHz radar sensor modules real-time detection front around barrier unit automatically
Thing (shaft tower etc.), once detect and there is barrier in threshold distance and determine it is not erroneous judgement by the continuous three times data of reception
Afterwards, following steps are performed：
<1>The automatic phase for obtaining current barrier and unmanned plane body from 24GHz radar sensor modules around barrier unit
Adjust the distance, call the latitude and longitude coordinates of big-dipper satellite locating module sensorcraft body, according to the two data and nobody
Machine head direction calculates barrier latitude and longitude coordinates；And with barrier latitude and longitude coordinates as the center of circle, current barrier and unmanned plane
The relative distance of body makees semi arch for radius, using the semi arch as the planning course line of unmanned plane；
<2>Control unmanned plane is according to planning airline operation, and the latitude and longitude coordinates of positioning unmanned plane body in real time, calculates nothing
The latitude and longitude coordinates of man-machine body and the difference in planning course line, are missed using positional PID control calculation real time correction flight orientation
Difference, it is ensured that unmanned plane is according to planning airline operation, cut-through thing；Unmanned plane continues to patrol and examine next section of line after barrier is flown over
Road.Whether complete transmission line of electricity feature is occurred in machine vision module real-time detection sky image again；Until continuing 2 width figures
As detecting complete transmission line of electricity feature, illustrate to have flown over barrier, then machine stops action of being diversion, continuation is parallel to follow transmission of electricity
Flight line.
Further, unmanned plane is parallel while follow flight line for flight control units control, and ground based terminal is enjoyed excellent
First control；Ground staff instruction is transmitted wirelessly by ground based terminal come change the current flight speed of unmanned plane, heading,
With respect to the orientation of transmission line of electricity, the shooting angle of circuit shooting unit；Unmanned plane body will be adjusted according to newest instruction in real time
Whole inherent parameters.
During unmanned plane follows polling transmission line, acquiescence is followed first transmission line of electricity in left side by electric platform
Shoot, but ground controller enjoys priority, and can at any time adjust head shooting angle, focuses on other electric wires and does not interfere with nothing
The man-machine action for following transmission line of electricity to fly.
Further, voltage detection unit real-time detection unmanned plane cell voltage, to ensure that safety is maked a return voyage；
After unmanned plane takes off, flight control units real-time calling big-dipper satellite locating module obtains current unmanned plane body
Latitude and longitude coordinates, and calculate the distance between current location and takeoff setting of unmanned plane body, returned then in conjunction with default
Whether speed of a ship or plane degree calculates the departure times on reverse, judges should now make a return voyage with reference to the battery level information of current unmanned plane；
When task is maked a return voyage in execution, most short path of making a return voyage is cooked up according to departure location coordinate and at that time unmanned plane coordinate,
Control unmanned plane makes a return voyage according to path planning；
In way of making a return voyage, the latitude and longitude coordinates of current unmanned plane body and the difference of path planning are calculated in real time, using position
Put formula pid control algorithm real time correction flight orientation error, it is ensured that unmanned plane makes a return voyage according to path planning.
Beneficial effects of the present invention:
According to the present invention, the stabilization that is difficult to that remotely pilotless machine polling transmission line faced can be solved and follow power transmission line
Road, shooting transmission line of electricity image is not parallel to wait technical barrier.Automatic unmanned plane patrols and examines transmission line of electricity, improves unmanned plane and patrols and examines defeated
The accuracy and security of electric line, improve the stability and utilization rate of shooting picture, reduce the manpower that unmanned plane is patrolled and examined
Cost.
Brief description of the drawings
Fig. 1 multi-rotor unmanned aerial vehicles follow flight line and patrol and examine flow chart automatically
The automatic long-distance flight of Fig. 2 multi-rotor unmanned aerial vehicles is with automatic around barrier flow chart
Fig. 3 multi-rotor unmanned aerial vehicle automatic control system structure charts
Specific embodiment
The present invention will be further described with embodiment below in conjunction with the accompanying drawings
As shown in figure 1, a kind of unmanned plane follows flight line and the control algolithm and flow patrolled and examined automatically：
1. unmanned plane takes off vertically, the data in flight control units real-time processing machine visual unit
2. be sent to the image in transmission line of electricity in image processing module by machine vision unit, and image processing module is first right
Image uses canny rim detections to obtain contour images, is then used by the hough change detection contour images in OpenCV
Transmission line of electricity, the starting point and end point of each bar transmission line of electricity in image are obtained, while obtaining transmission line of electricity in the picture
Width.Machine vision unit goes to calculate position and direction of each bar transmission line of electricity in image according to this data is obtained, with
And each bar transmission line of electricity relative distance in the picture.The information processed after completing is sent to flight control by machine vision unit
Unit processed.
3. when ground staff's locking unmanned plane is with respect to grid locational, flight control units preserve one group of image procossing
The data of the transmission line of electricity that module is sended over.The process that following flight control units can constantly be repeated below：
<1>The positional information of the transmission line of electricity that flight control units provide present image processing module and the position for preserving
Make comparisons, using the variable quantity of position as the flight attitude and flying height of controlled quentity controlled variable adjustment unmanned plane, make power transmission line in image
Remain at position when unmanned plane relative position is locked.
<2>The directional information of the transmission line of electricity that flight control units provide present image processing module and the direction for preserving
Make comparisons, using direction change amount as the flight attitude and flying height of controlled quentity controlled variable adjustment unmanned plane, make transmission line of electricity in image
Remain at direction when unmanned plane relative position is locked.
<3>The pitch information of the transmission line of electricity that flight control units provide present image processing module and the spacing for preserving
Make comparisons, using the variable quantity of spacing as the flight attitude and flying height of controlled quentity controlled variable adjustment unmanned plane, each bar is defeated in making image
Spacing between electric wire remains at spacing when unmanned plane relative position is locked.
4. after above-mentioned control is completed, each bar transmission line of electricity is located at position and direction and each bar in image to unmanned plane
Transmission line of electricity relative distance in the picture, i.e. unmanned plane can just be stablized with respect to the position of transmission line of electricity, direction and height
In one less scope.The camera on unmanned plane can be photographed in this state stablize relatively and clearly power transmission line
The image on road, and the observation personnel on ground are constantly sent an image to, while unmanned plane can be according to certain speed along defeated
Electric line is flown.
Automatic unmanned plane long-distance flight and automatic control algolithm and flow such as Fig. 2 institutes around barrier flight in the present invention
Show：
1. unmanned plane be in it is parallel follow transmission line of electricity fly during.
2. scheduling cell voltage detection unit response：
<1>AD sample circuits detect cell voltage.
<2>12.6V voltages are the cell voltage that takes off, and flight control units calculate current location and rise according to coordinate in real time
Fly the distance between position, the departure times on reverse is calculated then in conjunction with default speed of making a return voyage, with reference to the battery electric quantity of current unmanned plane
Whether information judges should now make a return voyage.
<3>Judge step<2>In whether make a return voyage, be then enter step 3, otherwise jump to step 5.
3. unmanned plane first in the horizontal direction, is directed away from the direction flight of circuit, until transmission line of electricity region is left,
Then it is quick to raise certain altitude, into accessible spatial domain.
4. instruction of making a return voyage, the locating module response of scheduling big-dipper satellite are performed：
<1>Position current unmanned plane body latitude and longitude coordinates.
<2>According to the latitude and longitude coordinates and changing coordinates of unmanned plane departure time, planning unmanned plane makes a return voyage most short straight line road
Footpath.In way of making a return voyage, the difference of unmanned plane coordinate and planning course line is calculated in real time, using positional PID control calculation reality
When correct flight orientation error, it is ensured that unmanned plane according to planning airline operation.
<3>Unmanned plane makes a return voyage flight to takeoff setting, and device descending at constant speed, and this process of patrolling and examining terminates.
Whether there is barrier in the threshold distance of 5.24GHZ radar sensors real-time detection front.
6., if continuing to receive obstacle distance information 3 times after self-discovery barrier, barrier is defined as rather than erroneous judgement,
Into step 7, step 1 is otherwise return.
7. perform and instructed around barrier, the locating module response of scheduling big-dipper satellite：
<1>Position current unmanned plane body latitude and longitude coordinates.
<2>Barrier longitude and latitude is calculated towards angle with unmanned plane body relative distance and unmanned plane head according to barrier
Degree coordinate.
<3>With barrier latitude and longitude coordinates as the center of circle, current unmanned plane body and obstacle distance make semi arch for radius,
Using the semi arch as planning course line；
8. unmanned plane body is according to planning airline operation, cut-through thing；And unmanned plane body longitude and latitude is calculated in real time
Degree coordinate and the difference for planning course line, using positional PID control calculation real time correction flight orientation error, it is ensured that unmanned plane is pressed
According to planning airline operation.
9. whether complete transmission line of electricity feature is occurred again in machine vision module real-time detection sky image；If continuing
2 width image detections, then into step 10, otherwise return step 8 to complete transmission line of electricity feature.
10. unmanned plane continuation is parallel follows transmission line of electricity to fly, and stops action of being diversion.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity, it is characterised in that including machine vision unit, flight control
Unit, circuit shooting unit and battery power supply unit；The machine vision unit and circuit shooting unit are single with flight control
Unit is connected；The battery power supply unit provides voltage for UAS；
The machine vision unit, for the image information of capture transmission line of electricity in real time, and calculates according to the image information of capture
Go out position and direction of each bar transmission line of electricity in image, and each bar transmission line of electricity relative distance in the picture, then
Flight control modules are sent this data to stablize position, direction and the height of the relative transmission line of electricity of unmanned plane, makes unmanned plane
It is parallel to follow flight line；
The circuit shooting unit, when following flight line for unmanned plane to be parallel, obtains the image information of transmission line of electricity.
2. the multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity according to claim 1, it is characterised in that also including with fly
It is automatic around barrier unit that row control unit is connected；It is automatic to include that 24GHZ radar sensors module and big-dipper satellite are fixed around barrier unit
Position module；Flight control units instruct unmanned plane automatic winged around barrier according to the automatic information planning course line detected around barrier unit
OK.
3. the multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity according to claim 1, it is characterised in that also including with fly
The connected state of flight detection unit of row control unit；
The state of flight detection unit includes barometer, gyroscope and accelerometer and electronic compass；The barometer is used for
Current spatial domain air pressure is detected, to be further calculated current flight highly；Gyroscope and accelerometer be used to detecting currently without
6 man-machine free degree states, with the control base unit weight being further calculated needed for stabilization unmanned plane；Electronic compass is used to detect
Earth's magnetic field, to be further calculated unmanned plane head direction.
4. the multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity according to claim 1, it is characterised in that also including being used for
The information transmission unit that flight control units communicate with ground based terminal；
Described information transmission unit includes digital transmission module and figure transmission module；Digital transmission module passes through digital transmission communication link with ground based terminal
It is connected, for ground staff's real-time monitoring unmanned plane state；Figure transmission module is connected with ground based terminal by scheming biography communication link
Connect, for the picture real-time Transmission that shoots circuit shooting unit to ground based terminal.
5. the multi-rotor unmanned aerial vehicle of automatic detecting transmission line of electricity according to claim 1, also including voltage detection unit, uses
In the output voltage of real-time detection battery power supply unit, to calculate whether current voltage is equal to threshold voltage, threshold voltage root
Set according to the basic voltage needed for making a return voyage.
6. a kind of method of automatic detecting transmission line of electricity, it is characterised in that using many any one of Claims 1 to 5
Rotor wing unmanned aerial vehicle, control unmanned plane takes off, and captures the image information of transmission line of electricity in real time by machine vision unit, and to capture
To image information processed, calculate position and direction of each bar transmission line of electricity in the image, and each bar power transmission line
Road relative distance in the picture；Flight control units perform pid control algorithm, to stablize nothing according to the information being calculated
The position of man-machine relative transmission line of electricity, direction and height, make that unmanned plane is parallel to follow transmission line of electricity to fly, and ensure unmanned plane with
The distance of transmission line of electricity part is safe distance；Control circuit shooting unit shoots to transmission line of electricity simultaneously, realizes unmanned plane
Transmission lines in parallel is patrolled and examined.
7. the method for automatic detecting transmission line of electricity according to claim 6, it is characterised in that the machine vision unit is first
Its contour images first is obtained using canny edge detection methods to the image for capturing, the hough conversion in OpenCV is then used by
Transmission line of electricity in method detection contour images, obtains starting point and end point of each bar transmission line of electricity in contour images；So
The position and direction during each bar transmission line of electricity is located at contour images are calculated according to the data for obtaining afterwards, and each bar transmission line of electricity exists
Relative distance in contour images.
8. the method for automatic detecting transmission line of electricity according to claim 6, it is characterised in that automatic to be utilized around barrier unit
24GHz radar sensor modules real-time detection front whether there is barrier, once detect the presence of barrier in threshold distance
And determine it is not after judging by accident, to perform following steps by the continuous three times data of reception：
<1>It is automatic around barrier unit obtained from 24GHz radar sensor modules current barrier it is relative with unmanned plane body away from
From the latitude and longitude coordinates of big-dipper satellite locating module sensorcraft body being called, according to the two data and unmanned plane machine
Head direction calculates barrier latitude and longitude coordinates；And with barrier latitude and longitude coordinates as the center of circle, current barrier and unmanned plane body
Relative distance make semi arch for radius, using the semi arch as the planning course line of unmanned plane；
<2>Control unmanned plane is according to planning airline operation, and the latitude and longitude coordinates of positioning unmanned plane body in real time, calculates unmanned plane
The latitude and longitude coordinates of body and the difference in planning course line, using positional PID control calculation real time correction flight orientation error, protect
Card unmanned plane is according to planning airline operation, cut-through thing；Unmanned plane continues to patrol and examine next section of circuit after barrier is flown over.
9. the method for automatic detecting transmission line of electricity according to claim 6, flight control units control unmanned plane it is parallel with
While with flight line, ground based terminal enjoys priority control；Ground staff transmits wirelessly instruction come more by ground based terminal
Change current flight speed, heading, the orientation of relative transmission line of electricity, the shooting angle of circuit shooting unit of unmanned plane；Nothing
Man-machine body will adjust inherent parameters according to newest instruction in real time.
10. the method for automatic detecting transmission line of electricity according to claim 6, it is characterised in that voltage detection unit is real-time
Detection unmanned plane cell voltage；
After unmanned plane takes off, flight control units real-time calling big-dipper satellite locating module obtains the warp of current unmanned plane body
Latitude coordinate, and the distance between current location and takeoff setting of unmanned plane body are calculated, then in conjunction with default speed of making a return voyage
Whether degree calculates the departure times on reverse, judges should now make a return voyage with reference to the battery level information of current unmanned plane；
When task is maked a return voyage in execution, most short path of making a return voyage is cooked up according to departure location coordinate and at that time unmanned plane coordinate, controlled
Unmanned plane makes a return voyage according to path planning；
In way of making a return voyage, the latitude and longitude coordinates of current unmanned plane body and the difference of path planning are calculated in real time, using position model
Pid control algorithm real time correction flight orientation error, it is ensured that unmanned plane makes a return voyage according to path planning.
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Cited By (45)
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| CN116027798A (en) * | 2022-09-30 | 2023-04-28 | 三峡大学 | Unmanned aerial vehicle power inspection system and method based on image correction |
| CN117876624A (en) * | 2024-03-13 | 2024-04-12 | 纵古(江苏)智能科技有限公司 | Complex environment track planning method based on unmanned aerial vehicle remote sensing image |
| CN117876624B (en) * | 2024-03-13 | 2024-05-07 | 纵古(江苏)智能科技有限公司 | Complex environment track planning method based on unmanned aerial vehicle remote sensing image |
| CN118068850A (en) * | 2024-04-17 | 2024-05-24 | 泰诺尔(北京)科技有限公司 | Unmanned aerial vehicle return control method and system |
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